Cleaning system and control method thereof

ABSTRACT

Disclosed are a cleaning system and a control method thereof. The cleaning system includes a self-propelled cleaning robot, a safety guard connector, a detector assembly; where the self-propelled cleaning robot and the safety guard connector are detachably connected with each other, and the detector assembly detect whether the self-propelled cleaning robot and the safety guard connector being connected with each other or not

FIELD

The embodiments discussed herein are related to a cleaning system and acontrol method thereof.

BACKGROUND

Current cleaning robots that are employed to clean vertical wallsurfaces may require or use a connection with a safety rope to preventthe cleaning robot from falling. The connection state of the safetyrope, however, may not be detected by current cleaning robots. In somecases, current cleaning robots may fall off in the event of a looseconnection with the safety rope, thereby potentially posing a safetyrisk.

The subject matter claimed herein is not limited to embodiments thatsolve any disadvantages or that operate only in environments such asthose described above. Rather, this background is only provided toillustrate one example technology area where some embodiments describedherein may be practiced.

SUMMARY

A cleaning system may include a self-propelled cleaning robot forcleaning a working surface. Additionally, the cleaning system mayinclude a safety guard connector to connect with the self-propelledcleaning robot in which the self-propelled cleaning robot and the safetyguard connector are detachably connected with each other through asecuring connector assembly, and in which the securing connectorassembly has a first state in which the safety guard connector isconnected with the self-propelled cleaning robot and a second state inwhich the safety guard connector is separated from the self-propelledcleaning robot. Additionally, the cleaning system may include a detectorassembly to detect whether the securing connector assembly is in thefirst state or the second state. The cleaning system may also include acontrol unit to control whether the self-propelled cleaning robot entersa safe activation state depending on a detection signal from thedetector assembly.

BRIEF DESCRIPTION OF THE DRAWINGS

Example embodiments will be described and explained with additionalspecificity and detail through the use of the accompanying drawings inwhich:

FIG. 1 illustrates an example structural schematic view illustrating anexample self-propelled cleaning robot and an example plug-in connectorof an example cleaning system;

FIG. 2 illustrates an example structural schematic view illustrating anexample securing connector assembly and an example detector assembly inan example embodiment;

FIG. 3 illustrates an example schematic view illustrating animplementation structure of an example sensor in an example embodiment;

FIG. 4 illustrates an example schematic section view of an example firstimplementation structure of an example securing connector assembly in anexample second state in an example embodiment;

FIG. 5 illustrates an example schematic section view of an example firstimplementation structure of an example securing connector assembly in anexample first state in an example embodiment;

FIG. 6 illustrates an example schematic section view of an examplesecond implementation structure of an example securing connectorassembly in an example second state in an example embodiment;

FIG. 7 illustrates an example schematic section view of an examplesecond implementation structure of an example securing connectorassembly in an example first state in an example embodiment;

FIG. 8 illustrates an example structural schematic view illustrating anexample securing connector assembly and an example detector assembly inan example embodiment;

FIG. 9 illustrates an example structural schematic view illustrating anexample securing connector assembly and an example detector assembly inan example embodiment;

FIG. 10 illustrates an example structural schematic view illustrating anexample second wiring board in an example embodiment; and

FIG. 11 illustrates an example structural schematic view illustrating anexample fixed base in an example embodiment.

DESCRIPTION OF EXAMPLE EMBODIMENTS

According to aspects of the present disclosure, a cleaning system and acontrol method thereof may help to avoid a problem stemming from, amongother things, a loose connection between existing cleaning robots and anassociated safety rope that may lead to falling of the cleaning robotsand/or an increased risk of falling.

The cleaning system may include a self-propelled cleaning robot forcleaning a working surface and a safety guard connector for connectionwith the self-propelled cleaning robot. The self-propelled cleaningrobot and the safety guard connector may be detachably connected witheach other through a securing connector assembly. The securing connectorassembly may have a first state in which the safety guard connector isconnected with the self-propelled cleaning robot and a second state inwhich the safety guard connector is separated from the self-propelledcleaning robot. The cleaning system may further include a detectorassembly for detecting whether the securing connector assembly is in thefirst state or the second state, and a control unit for controllingwhether the self-propelled cleaning robot enters a safe activation statedepending on a detection signal from the detector assembly.

As a further improvement of the present disclosure, the securingconnector assembly may include a plug-in connector fixedly connectedwith the safety guard connector and a fixed base arranged within theself-propelled cleaning robot. In these or other embodiments, theplug-in connector and the fixed base may cooperate with each other. Forexample, the plug-in connector and the fixed based may be fixed togetherwhen the securing connector assembly is in the first state, and theplug-in connector and the fixed base may be separated from each otherwhen the securing connector assembly is in the second state.

As a further improvement of the present disclosure, the plug-inconnector may have a first direction of action for insertion into thefixed base and a second direction of action for movement within thefixed base. In these or other embodiments, the first direction of actionmay be perpendicular to a reference plane, and the second direction ofaction may be parallel with the reference plane.

As a further improvement of the present disclosure, the reference planemay be parallel with a working surface. Alternatively, in someembodiments the reference plane may be perpendicular to the workingsurface.

As a further improvement of the present disclosure, the fixed base maybe provided thereon with an abutting portion that may be arranged insuch a way that the abutting portion may block movement of the plug-inconnector in the second direction of action when the securing connectorassembly is in the first state.

As a further improvement of the present disclosure, the plug-inconnector may include a plug-in rod with one end being fixed with thesafety guard connector, and an abutting block located on the other endof the plug-in rod and extending radially outwards along the plug-inrod.

As a further improvement of the present disclosure, an insertion openingfor insertion of the plug-in rod and the abutting block may be formed onthe fixed base.

As a further improvement of the present disclosure, formed on the fixedbase may be a receding portion communicated with the insertion openingto make way for the abutting block when the plug-in connector isinserted. Additionally or alternatively, an abutting portion may becommunicated with and radially spaced a certain distance from thereceding portion. In these or other embodiments, the abutting portionmay be arranged in such a way that when the securing connector assemblyis in the first state, the abutting block may cooperate with theabutting portion to fix the plug-in connector.

As a further improvement of the present disclosure, the detectorassembly may include a microswitch arranged in such a way that themicroswitch may be triggered when the abutting block cooperates with theabutting portion.

As a further improvement of the present disclosure, the detectorassembly may include a shield and a sensor arranged within the fixedbase. In these or other embodiments, the shield may have an exposureposition where the sensor is exposed and a shielding position where thesensor is shielded. In some embodiments, the shielding position and theexposure position of the shield may correspond to the first state andthe second state, respectively, of the securing connector assembly.

As a further improvement of the present disclosure, the detectorassembly further may include an elastic member. In these or otherembodiments, the elastic member may be positioned between the shield andthe fixed base. Additionally or alternatively, the plug-in connector,when inserted into the fixed base, may abut against the shield so as tocause displacement of the shield.

As a further improvement of the present disclosure, the detectorassembly may include a first wiring board and a second wiring boardarranged to be spaced from each other. In these or other embodiments,the plug-in connector may include a conductive material, and the plug-inconnector may be electrically connected with the first wiring board andthe second wiring board when the securing connector assembly is in thefirst state.

As a further improvement of the present disclosure, when the securingconnector assembly is in the first state, a first position of thesecuring connector assembly may be electrically connected with the firstwiring board, and a second position of the securing connector assemblymay be electrically connected with the second wiring board. In these orother embodiments, the first position and the second position may be twodifferent positions on the securing connector assembly.

As a further improvement of the present disclosure, the securingconnector assembly may include a plug-in connector fixedly connectedwith the safety guard connector and a fixed base arranged within theself-propelled cleaning robot. In these or other embodiments, theplug-in connector and the fixed base may cooperate with each other andthus may be fixed together when the securing connector assembly is inthe first state, and the plug-in connector and the fixed base may beseparated from each other when the securing connector assembly is in thesecond state. Additionally or alternatively, the fixed base may includea flange plate and a fixed support. In some embodiments, an insertionopening may be arranged on the flange plate, and the first wiring boardand the second wiring board may be positioned between the flange plateand the fixed support. In some embodiments, the plug-in connector may beinserted into the insertion opening along the first direction of actionand may be electrically connected with the first wiring board. In someembodiments, the plug-in connector, when being electrically connectedwith the first wiring board, may move along the second direction ofaction to be electrically connected with the second wiring board, andthereby cooperate with and affix to the fixed base.

As a further improvement of the present disclosure, the fixed supportmay include a mounting surface. In these or other embodiments, the firstwiring board may be parallel with the mounting surface, and the secondwiring board may be perpendicular to the mounting surface.

As a further improvement of the present disclosure, the fixed supportmay include an annular sidewall extending from the mounting surfacealong a direction towards the flange plate. In these or otherembodiments, a first opening may be formed on the annular sidewall, andthe first wiring board may be partially disposed within the annularsidewall through the first opening and partially positioned outwardly ofthe annular sidewall. Additionally or alternatively, a second openingand a third opening may be formed on the annular sidewall. In someembodiments, the second wiring board may enter into the annular sidewallthrough the second opening and may then extend out of the annularsidewall through the third opening, such that both ends of the secondwiring board may be positioned outwardly of the annular sidewall and amiddle portion thereof positioned inwardly of the annular sidewall.

As a further improvement of the present disclosure, arranged on a firstend of the second wiring board may be a blocking structure for blockingentrance of the first end into the annular sidewall.

As a further improvement of the present disclosure, two retaining wallsmay be arranged outwardly of the annular sidewall, and a spacecorresponding to the second wiring board may be formed between the tworetaining walls. In these or other embodiments, the space may becommunicated with the third opening.

As a further improvement of the present disclosure, the self-propelledcleaning robot in the cleaning system may include a glass-wiping robot,a solar cell panel cleaning robot, or the like.

As a further improvement of the present disclosure, the control methodof the cleaning system may include: controlling, by the control unit,entrance of the self-propelled cleaning robot into a safe activationstate if the detection unit detects that the securing connector assemblyis in the first state.

As a further improvement of the present disclosure, controlling, by thecontrol unit, entrance of the self-propelled cleaning robot into a safeactivation state if the detection unit detects that the securingconnector assembly is in the first state may include the control unitwaiting for a first time period upon the first receipt of a detectionsignal that the detection unit detects that the securing connectorassembly is in the first state. Additionally or alternatively,controlling, by the control unit, entrance of the self-propelledcleaning robot into a safe activation state if the detection unitdetects that the securing connector assembly is in the first state mayinclude when, within the first time period, the detection unit detectingthat the securing connector assembly is always in the first state.

Accordingly, aspects of the present disclosure may have the followingadvantageous effect that, in accordance with the cleaning system and thecontrol method thereof, the risk of falling that can result from a looseconnection between the safety guard connector and the self-propelledcleaning robot can be reduced by arranging the detector assembly todetect the state of the securing connector assembly and also byutilizing the control unit to control, depending on detection results,whether the self-propelled cleaning robot enters the safe activationstate. The cleaning system in the present disclosure may thus improveintelligence and/or safety of cleaning systems described herein.

Embodiments of the present disclosure will be explained with referenceto the accompanying drawings.

As illustrated in FIG. 1 to FIG. 9, the cleaning system of the presentdisclosure may include a self-propelled cleaning robot 1, a safety guardconnector for connection with the self-propelled cleaning robot 1, asecuring connector assembly 3 arranged between the self-propelledcleaning robot 1 and the safety guard connector, a detector assembly 4and a control unit.

The safety guard connector may include an attachment for fixation to awall surface and a safety rope for connection with the attachment andthe self-propelled cleaning robot 1. The safety guard connector may helpto prevent the self-propelled cleaning robot 1 from falling, by timelypulling up the self-propelled cleaning robot 1 in the case of itsdisengagement from a working surface.

The securing connector assembly 3 may have a first state in which thesafety guard connector is connected with the self-propelled cleaningrobot 1 and a second state in which the safety guard connector isseparated from the self-propelled cleaning robot 1. The detectorassembly 4 may detect the state of the securing connector assembly 3.Additionally or alternatively, the control unit may control, dependingon a detection signal from the detector assembly 4, whether theself-propelled cleaning robot 1 has entered a safe activation state. Inparticular, the control unit may control the self-propelled cleaningrobot to enter the safe activation state when the presence of the firststate is detected. The safe activation state may, in some embodiments,be a recommended (e.g., suggested or required) state to control theself-propelled cleaning robot 1 and/or such that the self-propelledcleaning robot functions (e.g., as in a safety mechanism). Upon entranceof the self-propelled cleaning robot 1 into the safe activation state,the self-propelled cleaning robot 1 can be controlled to function byfurther pressing down an activation button, and/or the self-propelledcleaning robot 1 can function when it enters the safe activation statefollowing the pressing of the activation button. When the presence ofthe second state is detected, the self-propelled cleaning robot 1 maynot enter the safe activation state. For example, the self-propelledcleaning robot 1 may not move or function over the working surface eventhough the activation button is pressed down.

If the securing connector assembly 3 is in the first state, then it maybe determined that the safety guard connector and the self-propelledcleaning robot 1 may be properly connected, at which point the controlunit may control the self-propelled cleaning robot 1 to enter the safeactivation state. With further operations, users may be capable ofcontrolling the self-propelled cleaning robot 1 to function. Then, theself-propelled cleaning robot 1 may be placed over the working surfaceto clean it. And when the securing connector assembly 3 is in the secondstate, it may be determined that the safety guard connector and theself-propelled cleaning robot 1 may not be connected with each otherand/or may not be properly connected, at which point the self-propelledcleaning robot 1 may not be able to enter the safe activation state andusers may be asked or notified to check the securing connector assembly3. The self-propelled cleaning robot 1 can be activated after thesecuring connector assembly 3 is operated to enter the first state. Bydoing so, falling of the self-propelled cleaning robot 1 that arisesfrom failure to fix with the safety guard connector can be avoidedand/or a risk thereof reduced.

The securing connector assembly 3 may include a plug-in connector 31fixedly connected with the safety guard connector and a fixed base 32arranged within the self-propelled cleaning robot 1. In these or otherembodiments, the plug-in connector 31 and the fixed base 32 maycooperate with each other and thus may be fixed together when thesecuring connector assembly 3 is in the first state. Additionally oralternatively, the plug-in connector 31 and the fixed base 32 may beseparated from each other when the securing connector assembly 3 is inthe second state.

The plug-in connector 31 may include a plug-in rod 311 with one endbeing fixed with the safety guard connector, and an abutting block 312may be located on the other end of the plug-in rod 311 and may extendradially outwards along the plug-in rod 311. An insertion opening 321for insertion of the plug-in rod 311 and the abutting block 312 may beformed on the fixed base 32.

Formed on the fixed base 32 may be a receding portion 322 communicatedwith the insertion opening 321 to make way for (e.g., receive) theabutting block 312 when the plug-in connector 31 is inserted.Additionally or alternatively, an abutting portion 323 may becommunicated with and radially spaced a certain distance from thereceding portion 322. In these or other embodiments, when the securingconnector assembly 3 is in the first state, the abutting block 312 maycooperate with the abutting portion 323 to fix the plug-in connector 31.

The plug-in connector 31 may have a first direction of action forinsertion into the fixed base 32 and a second direction of action formovement within the fixed base 32, wherein as shown in FIG. 4, the firstdirection of action may be perpendicular to a reference plane 5, and asshown in FIG. 5, the second direction of action may be parallel with thereference plane 5.

In some embodiments, a working surface for the self-propelled cleaningrobot can be used as the reference plane, or a virtual plane parallelwith the working surface may be used as the reference plane.Alternatively, a certain plane on the fixed base can be used as thereference plane. Alternatively, a virtual plane having a particularangle (such as 30 degrees, 40 degrees, etc.) with respect to the workingsurface can be used as the reference plane. Alternatively, a virtualplane perpendicular to the working surface can be used as the referenceplane. Other planes similar to and/or functionally analogous to thosedescribed above may be implemented.

In these or other embodiments, the first direction of action may be arectilinear direction, e.g., direction X as shown in FIG. 4. The seconddirection of action may be a rotational direction, e.g., direction Y asshown in FIG. 5. In these or other embodiments, direction Y as shown inFIG. 5 may be a clockwise rotation direction. Alternatively, thedirection Y may also be a counterclockwise rotation direction.

The abutting portion 323 may be arranged in such a way that the abuttingportion 323 may block movement of the plug-in connector 31 in the seconddirection of action when the securing connector assembly 3 is in thefirst state.

In some embodiments, the particular structure for the fixed base 32 andthe plug-in connector 31 can also be varied, for example, as long as thevariation can result in a fixed connection between the self-propelledcleaning robot 1 and the safety guard connector.

In particular, the present disclosure includes the following severalembodiments in regard to the particular form of the detector assembly 4.

Additionally or alternatively, as shown in FIG. 2 through FIG. 5, thedetector assembly 4 in this embodiment may include a shield 41, a sensor42 and a first elastic member 43, which may all be arranged within thefixed base 32.

The shield 41 may have an exposure position where the sensor 42 isexposed and a shielding position where the sensor 42 is shielded. Theshielding position and the exposure position of the shield 41 maycorrespond to the first state and the second state, respectively, of thesecuring connector assembly 3. That is, as shown in FIG. 5, when theshield 41 is in the shielding position, the sensor 42 may be shielded bythe shield 41, and the securing connector assembly 3 may be in the firststate. As shown in FIG. 4, when the shield 41 is in the exposureposition, the sensor 42 may not be shielded by the shield 41 but may beexposed, and the securing connector assembly 3 may be in the secondstate.

The first elastic member 43 may be positioned between the shield 41 andthe fixed base 32, and the plug-in connector 31, when inserted into thefixed base 32, may abut against the shield 41 so as to causedisplacement of the shield 41 in an up-and-down direction.

In this embodiment, the shield 41 may be in the exposure position whenthe securing connector assembly 3 is in the second state. When theplug-in connector 31 is inserted into the fixed base 32, the abuttingblock 312 may enter the receding portion 322 to abut against the shield41 and compress the first elastic member 43. Additionally oralternatively, the plug-in connector 31 may be rotated such that theabutting block 312 may enter the abutting portion 323. The abuttingblock 312 may be driven by a resilience of the first elastic member 43to offset upwardly (e.g., a direction opposite to the insertiondirection) by a distance. In these or other embodiments, the shield 41may be in the shielding position that is lower than the exposureposition. At this moment, the sensor 42 may be shielded by the shield41, so it may be determined that the plug-in connector 31 is engaged inplace and the securing connector assembly 3 has entered the first state.

In this embodiment, provided that the sensor 42 is shielded while theplug-in connector 31 abuts against the shield 41 to provide a downwardcompression, the detector assembly 4 may not determine that the securingconnector assembly 3 is already in the first state due to the shortperiod of time.

In some embodiments, the following implementation can be employed. Asshown in FIG. 6, when the shield 41 is in the shielding position, thesensor 42 may be shielded by the shield 41 and the securing connectorassembly may be in the second state. As shown in FIG. 7, when the shield41 is in the exposure position, the sensor 42 may not be shielded by theshield 41 but may be exposed, and the securing connector assembly may bein the first state.

In the example embodiments of FIG. 4 and FIG. 5 described above, if oneor more portions are damaged, the sensor may be mistaken for beingshielded, and the securing connector assembly may be in the first state,and the control unit may control the self-propelled cleaning robot toenter the safe activation state. At this point, a likelihood for theself-propelled cleaning robot to fall off may increase if it iserroneously activated by the user. This example problem, however, can besolved by the solution provided in example embodiments of FIG. 6 andFIG. 7, thereby helping to attain a greater degree of safety.

In practice, one or more sensors 42 may be arranged, and this is notspecifically limited by the embodiments of the present disclosure. Whena plurality of sensors 42 may be arranged, the number of structures(such as blocking pieces) on the shield 41 that play a role of shieldingmay be the same as or similar to the number of those sensors, and alsothese structures may correspond to the sensors with respect to position.For example, two sensors may be fixed within the fixed base: a firstsensor and a second sensor. Correspondingly, two shielding structures(such as two blocking pieces) may be arranged on the shield: a firstshielding structure and a second shielding structure. The firstshielding structure and the second shielding structure may move in acorresponding manner (e.g., synchronously) to shield or expose (e.g.,simultaneously) the first sensor and the second sensor, respectively.More or fewer sensors may be implemented according to these and/or otherembodiments of the present disclosure.

In some embodiments, the sensor 42 may be a photocoupler, which, asshown in FIG. 3, may include a light-emitting end 421 and alight-receiving end 422 arranged opposite each other. The shield 41 mayextend into the space between the light-emitting end 421 and thelight-receiving end 422 so that the light-emitting end 421 and thelight-receiving end 422 may be blocked off, in which case it can bedetermined that the photocoupler is shielded by the shield 41. After theshield 41 retracts from the light-emitting end 421 and thelight-receiving end 422, the light-emitting end 421 and thelight-receiving end 422 may be communicated, in which case it can bedetermined that the photocoupler is not shielded by the shield 41.

Additionally or alternatively, as shown in FIG. 8, the detector assembly4 in this embodiment may include a microswitch 44, a second elasticmember 45 for abutting against the plug-in connector 31, a cap 46arranged between the plug-in connector 31 and the second elastic member45, and a fixed frame 47 arranged on a side of the second elastic member45 away from the plug-in connector 31 and used to position the secondelastic member 45.

When the plug-in connector 31 is inserted into the fixed base 32, theabutting block 312 may enter the receding portion 322 and may compressthe second elastic member 45. Additionally or alternatively, the plug-inconnector 31 may be rotated such that the abutting block 312 may enterthe abutting portion 323. The abutting block 312 may be driven by aresilience of the second elastic member 45 to offset upwardly (e.g., adirection opposite to the insertion direction). Afterwards, themicroswitch 44 may be triggered. Upon triggering of the microswitch 44,it may be determined that the plug-in connector 31 is engaged in placeand the securing connector assembly 3 has entered the first state.

Additionally or alternatively, as shown in FIG. 9, the detector assembly4 may include a first wiring board 48 and a second wiring board 49arranged to be spaced from each other. In these or other embodiments,the plug-in connector 31 made include a conductive material and maysimultaneously (e.g., near simultaneously) come into contact with thefirst wiring board 48 and the second wiring board 49 when the securingconnector assembly 3 is in the first state. In some embodiments, aninsulator can be added into the gap between the first wiring board 48and the second wiring board 49, for example, to further improve aworking reliability of the cleaning system.

When the securing connector assembly 3 is in the first state, a firstposition of the securing connector assembly 3 may be electricallyconnected with the first wiring board 48 and a second position of thesecuring connector assembly 3 may be electrically connected with thesecond wiring board 49. In these or other embodiments, the firstposition and the second position may be two different positions on thesecuring connector assembly.

For instance, as shown in FIG. 9, the first wiring board 48 may bearranged below (e.g., directly below) the insertion opening 321 and mayextend along a horizontal direction (e.g., the plane of axis X′ and axisY′ in a coordinate system of X′Y′Z′ in FIG. 9), and the second wiringboard 49 may extend along a vertical direction (e.g., the plane of axisZ′ and axis X′ in a coordinate system of X′Y′Z′ in FIG. 9). The secondwiring board 49 may be formed thereon with a clamping connector 491 thatis used for cooperation with the abutting block 312. When the plug-inconnector 31 is inserted into the fixed base 32, the abutting block 312may be inserted from the insertion opening 321 and may abut against thefirst wiring board 48. Additionally or alternatively, the plug-inconnector 31 may be rotated such that the abutting block 312 maycooperate with the clamping connector 491. In these or otherembodiments, the first wiring board 48 and the second wiring board 49may be switched on by use of the plug-in connector 31. In someembodiments, it may then be determined that the plug-in connector 31 isengaged in place and the securing connector assembly 3 has entered thefirst state.

Specifically as shown in FIG. 10, the clamping connector 491 is of awavelike structure formed on the second wiring board 49. This wavelikestructure may have two peaks 4912 and 4913 as well as a valley 4913located between the two peaks 4912 and 4913. When the plug-in connector31 is rotated, the abutting block 312 may squeeze through one of the twopeaks 4912 and 4913 into the valley 4913, and may remain in the valley4913 such that the abutting block 312 may cooperate with the clampingconnector 491 to accomplish an electrical connection between thesecuring connector assembly 3 and the second wiring board 49.

In this embodiment, as shown in FIG. 9, the fixed base 32 may include aflange plate 324 and a fixed support 325, and the insertion opening 321may be arranged on the flange plate 324. The first wiring board 48 andthe second wiring board 49 may be positioned between the flange plate324 and the fixed support 325. The plug-in connector 31 may be insertedinto the insertion opening along the first direction of action (e.g.,the direction of axis Z′ shown in the figure), and the bottom surface ofthe plug-in connector 31 may be electrically connected with the firstwiring board 48. Additionally or alternatively, the plug-in connector31, when being electrically connected with the first wiring board 48,may move along the second direction of action (e.g., thecounterclockwise or clockwise rotation direction that uses the axis Z′as an axis of rotation) to such an extent that the abutting block 312may be electrically connected with the second wiring board 49. Thus, insome embodiments, the plug-in connector 31 may cooperate with and affixto the fixed base.

In a specific implementation, as shown in FIG. 11, the fixed support 325may include a mounting surface 3251. With reference to FIG. 9, the firstwiring board 48 may be parallel with the mounting surface 3251, and thesecond wiring board 49 may be perpendicular to the mounting surface3251. With continued reference to FIG. 11, the fixed support 325 alsomay include an annular sidewall 3252 extending from the mounting surface3251 along a direction towards the flange plate 324. In these or otherembodiments, a first opening 3253 may be formed on the annular sidewall3252. In some embodiments, the first wiring board 48 may be partiallydisposed within the annular sidewall 3252 by extending into the annularsidewall 3252 through the first opening 3253, and may be partiallypositioned outwardly of the annular sidewall 3252. In some embodiments,a second opening 3254 and a third opening 3255 may be also formed on theannular sidewall 3252. Additionally or alternatively, the second wiringboard 49 may enter into the annular sidewall 3252 through the secondopening 3254 and may then extend out of the annular sidewall 3252through the third opening 3255, such that both ends of the second wiringboard 49 may be positioned outwardly of the annular sidewall 3252 and amiddle portion thereof is positioned inwardly of the annular sidewall3252.

Arranged on a first end of the second wiring board 49 may be a blockingstructure for blocking entrance of the first end into the annularsidewall 3252. The blocking structure may be a curled structure 4914that may be formed by curling of the end of the second wiring boardshown in FIG. 10. Additionally or alternatively, the blocking structuremay be a twisted structure that may be formed by twisting of the end ofthe second wiring board 49. Other structures similar to and/orfunctionally analogous to those described above may be implemented.

Further, two retaining walls 3256 and 3257 may be arranged outwardly ofthe annular sidewall, and a space corresponding with the second wiringboard 49 may be formed between the two retaining walls 3256 and 3257.The space may be communicated with the third opening 3255. The secondwiring board 49 may enter the space through the third opening 3255 andmay keep, within the space, a relative position relationship with thefixed base 325. In this manner, the reliability of the electricalconnection between the second wiring board 49 and the securing connectorassembly 3 may be improved.

Also provided in the embodiments of the present disclosure is a controlmethod of the cleaning system. The embodiment of this method may beimplemented in the cleaning system of one or more embodiments of thepresent disclosure. In particular, the control method of the cleaningsystem may include: controlling, by the control unit, entrance of theself-propelled cleaning robot into a safe activation state if thedetection unit detects that the securing connector assembly is in thefirst state.

Further, if the detection unit detects that the securing connectorassembly is in the second state, then the control unit may controlentrance of the self-propelled cleaning robot into a non-activationstate.

In some structures described in one or more of the embodiments describedabove, such as the implementation of the detector assembly provided inembodiment 1, the plug-in connector in the securing connector assemblymay shield the sensor while abutting against the shield and may providea downward compression. However, at this moment it may not be determinedthat the securing connector assembly may have proceeded to the firststate. As a result, the method provided in the embodiments of thepresent disclosure, e.g., controlling, by the control unit, entrance ofthe self-propelled cleaning robot into a safe activation state if thedetection unit detects that the securing connector assembly is in thefirst state, may include one or more of the following blocks (e.g.,steps). Although described as discrete blocks, various blocks may bedivided into additional blocks, combined into fewer blocks, oreliminated, depending on the desired implementation.

At block 101, the control unit may wait for a first time period upon thefirst receipt of a detection signal that the detection unit detects thatthe securing connector assembly is in the first state. The first timeperiod may be a set value, such as about 5 seconds, about 15 seconds,about 30 seconds, etc.

At block 102, controlling may include controlling, by the control unit,entrance of the self-propelled cleaning robot into a safe activationstate when, within the first time period, the detection unit detectsthat the securing connector assembly is always in the first state. Forexample, according to the control method of the present disclosure, theself-propelled cleaning robot can enter the safe activation state uponexpiration of the first time period, thereby helping to avoid ormitigate erroneous operations by the user or outside forces and alsohelp improve the working reliability of the self-propelled cleaningrobot.

In accordance with the cleaning system and the control method thereof inthe present disclosure, the risk of falling that may stem from a looseconnection between the safety guard connector and the self-propelledcleaning robot 1 can be reduced by arranging the detector assembly 4 todetect the state of the securing connector assembly 3 and also byutilizing the control unit to control depending on detection results,whether the self-propelled cleaning robot 1 enters the safe activationstate. The cleaning system in the present disclosure may thus improveintelligence and/or safety of cleaning systems described herein.

In accordance with common practice, the various features illustrated inthe drawings may not be drawn to scale. The illustrations presented inthe present disclosure are not meant to be actual views of anyparticular apparatus (e.g., device, system, etc.) or method, but aremerely idealized representations that are employed to describe variousembodiments of the disclosure. Accordingly, the dimensions of thevarious features may be arbitrarily expanded or reduced for clarity. Inaddition, some of the drawings may be simplified for clarity. Thus, thedrawings may not depict all of the components of a given apparatus(e.g., device) or all operations of a particular method.

Terms used in the present disclosure and especially in the appendedclaims (e.g., bodies of the appended claims) are generally intended as“open” terms (e.g., the term “including” should be interpreted as“including, but not limited to,” the term “having” should be interpretedas “having at least,” the term “includes” should be interpreted as“includes, but is not limited to,” etc.).

Additionally, if a specific number of an introduced claim recitation isintended, such an intent will be explicitly recited in the claim, and inthe absence of such recitation no such intent is present. For example,as an aid to understanding, the following appended claims may containusage of the introductory phrases “at least one” and “one or more” tointroduce claim recitations. However, the use of such phrases should notbe construed to imply that the introduction of a claim recitation by theindefinite articles “a” or “an” limits any particular claim containingsuch introduced claim recitation to embodiments containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should be interpreted to mean “at least one”or “one or more”); the same holds true for the use of definite articlesused to introduce claim recitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, such recitation should be interpreted to mean atleast the recited number (e.g., the bare recitation of “tworecitations,” without other modifiers, means at least two recitations,or two or more recitations). Furthermore, in those instances where aconvention analogous to “at least one of A, B, and C, etc.” or “one ormore of A, B, and C, etc.” is used, in general such a construction isintended to include A alone, B alone, C alone, A and B together, A and Ctogether, B and C together, or A, B, and C together, etc. For example,the use of the term “and/or” is intended to be construed in this manner.

Further, any disjunctive word or phrase presenting two or morealternative terms, whether in the description, claims, or drawings,should be understood to contemplate the possibilities of including oneof the terms, either of the terms, or both terms. For example, thephrase “A or B” should be understood to include the possibilities of “A”or “B” or “A and B.”

Additionally, the use of the terms “first,” “second,” “third,” etc., arenot necessarily used in the present disclosure to connote a specificorder or number of elements. Generally, the terms “first,” “second,”“third,” etc., are used to distinguish between different elements asgeneric identifiers. Absence a showing that the terms “first,” “second,”“third,” etc., connote a specific order, these terms should not beunderstood to connote a specific order. Furthermore, absence a showingthat the terms first,” “second,” “third,” etc., connote a specificnumber of elements, these terms should not be understood to connote aspecific number of elements. For example, a first widget may bedescribed as having a first side and a second widget may be described ashaving a second side. The use of the term “second side” with respect tothe second widget may be to distinguish such side of the second widgetfrom the “first side” of the first widget and not to connote that thesecond widget has two sides.

All examples and conditional language recited herein are intended forpedagogical objects to aid the reader in understanding the presentdisclosure and the concepts contributed by the inventor to furtheringthe art, and are to be construed as being without limitation to suchspecifically recited examples and conditions. Although embodiments ofthe present disclosure have been described in detail, it should beunderstood that the various changes, substitutions, and alterationscould be made hereto without departing from the spirit and scope of thepresent disclosure.

What is claimed is:
 1. A cleaning system, comprising: a self-propelledcleaning robot, a safety guard connector, a detector assembly; whereinthe self-propelled cleaning robot and the safety guard connector aredetachably connected with each other through a safety rope, and thedetector assembly detect whether the self-propelled cleaning robot andthe safety guard connector being connected with each other or not. 2.The cleaning system according to claim 1, further comprising: a controlunit; wherein the detector assembly is in communication connection withthe control unit, and the control unit controls whether theself-propelled cleaning robot enters a safe activation state dependingon a detection signal received from the detector assembly.
 3. Thecleaning system according to claim 1, wherein the self-propelledcleaning robot is provided with a first connection portion and thesafety guard connector is provided with a second connection portion, andthe self-propelled cleaning robot and the safety guard connector aredetachably connected with each other through the first connectionportion and the second connection portion.
 4. The cleaning systemaccording to claim 3, wherein, when the first connection portion and thesecond connection portion cooperate with each other and are fixed, theself-propelled cleaning robot and the safety guard connector areconnected with each other; and when the first connection portion and thesecond connection portion are separated from each other, theself-propelled cleaning robot and the safety guard connector areseparated from each other.
 5. The cleaning system according to claim 3,wherein the first connection portion is a fixed base, and the secondconnection portion is a plug-in connector.
 6. The cleaning systemaccording to claim 5, wherein: the plug-in connector has a firstdirection of action for insertion into the fixed base and a seconddirection of action for movement within the fixed base; the firstdirection of action is perpendicular to a reference plane; and thesecond direction of action is parallel with the reference plane.
 7. Thecleaning system according to claim 6, wherein the first connectionportion is provided thereon with an abutting portion that is arranged insuch a way that the abutting portion blocks a movement of the plug-inconnector in the second direction of action when the self-propelledcleaning robot and the safety guard connector are connected with eachother.
 8. The cleaning system according to claim 3, wherein the secondconnection portion comprises a plug-in rod and an abutting block, oneend of the plug-in rod is fixed with the safety guard connector, theother end of the plug-in rod is provided with the abutting block, andthe abutting block extends radially outwards along the plug-in rod. 9.The cleaning system according to claim 8, wherein an insertion openingis formed on the first connection portion for insertion of the plug-inrod and the abutting block.
 10. The cleaning system according to claim9, further comprising: a receding portion communicated with theinsertion opening to make way for the abutting block when the secondconnection portion is inserted, and an abutting portion communicatedwith and radially spaced a certain distance from the receding portion isformed on the first connection portion, the abutting portion arranged insuch a way that when the self-propelled cleaning robot and the safetyguard connector are connected with each other, the abutting blockcooperates with the abutting portion to fix the second connectionportion.
 11. The cleaning system according to claim 10, wherein thedetector assembly comprises a microswitch arranged in such a way thatthe microswitch is triggered when the abutting block cooperates with theabutting portion.
 12. The cleaning system according to claim 10,wherein: the detector assembly comprises a shield and a sensor arrangedwithin the first connection portion; the shield has an exposure positionat which the sensor is exposed and a shielding position at which thesensor is shielded; the shielding position of the shield correspond tothe self-propelled cleaning robot and the safety guard connector beingconnected with each other; and the exposure position of the shieldcorrespond to the self-propelled cleaning robot and the safety guardconnector being separated from each other.
 13. The cleaning systemaccording to claim 12, wherein: the detector assembly further comprisesan elastic member, the elastic member is positioned between the shieldand the first connection portion; and the second connection portion,when inserted into the first connection portion, abuts against theshield so as to cause displacement of the shield.
 14. The cleaningsystem according to claim 3, wherein: the detector assembly comprises afirst wiring board and a second wiring board arranged to be spaced fromeach other; and the second connection portion is made of a conductivematerial and is simultaneously electrically connected with the firstwiring board and the second wiring board when the self-propelledcleaning robot and the safety guard connector are connected with eachother.
 15. The cleaning system according to claim 14, wherein: when theself-propelled cleaning robot and the safety guard connector areconnected with each other, a first position of the securing connectorassembly is electrically connected with the first wiring board; when theself-propelled cleaning robot and the safety guard connector areconnected with each other, a second position of the securing connectorassembly is electrically connected with the second wiring board; and thefirst position and the second position are two different positions onthe securing connector assembly.
 16. The cleaning system according toclaim 14, wherein: the first connection portion comprises a flange plateand a fixed support, an insertion opening being arranged on the flangeplate, and the first wiring board and the second wiring board arepositioned between the flange plate and the fixed support; the secondconnection portion is inserted into the insertion opening along a firstdirection of action and electrically connected with the first wiringboard; and the second connection portion, when being electricallyconnected with the first wiring board, moves along a second direction ofaction to be electrically connected with the second wiring board, and isfixed with the first connection portion.
 17. The cleaning systemaccording to claim 16, wherein: the fixed support has a mountingsurface; the first wiring board is parallel with the mounting surface;and the second wiring board is perpendicular to the mounting surface.18. The cleaning system according to claim 17, wherein: the fixedsupport has an annular sidewall extending from the mounting surfacealong a direction towards the flange plate; a first opening is formed onthe annular sidewall, the first wiring board being partially disposedwithin the annular sidewall through the first opening and partiallypositioned outwardly of the annular sidewall; and a second opening and athird opening are formed on the annular sidewall, the second wiringboard entering into the annular sidewall through the second opening andextending out of the annular sidewall through the third opening, suchthat both ends of the second wiring board are positioned outwardly ofthe annular sidewall and a middle portion thereof is positioned inwardlyof the annular sidewall.
 19. A cleaning system, comprising: aself-propelled cleaning robot, a safety guard connector, a detectorassembly; wherein the self-propelled cleaning robot and the safety guardconnector are detachably connected with each other, and the detectorassembly detect whether the self-propelled cleaning robot and the safetyguard connector being connected with each other or not.
 20. A controlmethod of a cleaning system, comprising: controlling, by a control unit,entrance of a self-propelled cleaning robot into a safe activation stateif a detector assembly detects that a self-propelled cleaning robot anda safety guard connector are connected with each other; wherein thecleaning system comprises the self-propelled cleaning robot, the safetyguard connector, the detector assembly and the control unit, theself-propelled cleaning robot and the safety guard connector aredetachably connected with each other, and the detector assembly detectwhether the self-propelled cleaning robot and the safety guard connectorbeing connected with each other or not.